Commissioning device for piece goods

ABSTRACT

A commissioning device having a first shelf row with horizontal shelf surfaces and at least one second shelf row with multiple shelf surfaces disposed one above the other and forming storage shafts. A lane formed between the first and the second shelf rows includes an operating unit movably disposed in the lane. The commissioning device also includes an input device, an output device and an auxiliary output device. The operating unit includes a gripping device for inputting and/or outputting piece goods onto or from the horizontal shelf surfaces and for filling the goods into the storage shafts. A control unit coupled to the operating unit is configured to output identical piece goods in a row from the horizontal shelf surfaces, to input the piece goods into the storage shafts and to output and transfer one or more piece goods located on the horizontal shelf surfaces to the auxiliary output device.

CROSS-REFERENCES TO RELATED APPLICATIONS

This application is a divisional application of U.S. application Ser.No. 15/984,753 filed on May 21, 2018, entitled “COMMISSIONING DEVICE FORPIECE GOODS,” which is a continuation application of U.S. applicationSer. No. 14/593,717 filed on Jan. 9, 2015, which issued on May 22, 2018,as U.S. Pat. No. 9,975,698, the disclosures of which are incorporatedherein in their entirety for all purposes.

BACKGROUND

The disclosed embodiments relate to a commissioning device and methodsfor outputting piece goods and in particular, a commissioning device andmethods for outputting medicinal packages from storage.

In many medical treatment settings, it is desirable to provide acommissioning device that uses storage shafts and that can also storeand output medicinal packages that are not compatible with storageshafts, or that have a much lower output frequency than that ofmedicinal packages stored in the storage shafts.

SUMMARY

The disclosed embodiments provide methods for outputting piece goodsfrom a commissioning device. Some methods include receiving, by acontrol unit, an output request for at least one piece good;determining, by the control unit, whether the at least one piece good tobe output is a shaft good or a shelf good; if it is determined that thegood is a shelf good, grasping and transferring a number of the at leastone piece goods corresponding to the output request to an auxiliaryoutput device by a gripping device; if it is determined that the good isa shaft good, determining whether there is a corresponding number of theat least one piece goods stored in one or more storage shafts; if it isdetermined that a corresponding number of the at least one piece goodsis stored in the storage shafts, outputting the number of the at leastone piece goods corresponding to the output request out of thecommissioning device and onto an output device; and if it is determinedthat a corresponding number of the at least one piece goods is notstored in the storage shafts, grasping and outputting a plurality of theat least one piece goods stored on horizontal shelf surfacescorresponding to the output request by the gripping device.

The disclosed embodiments provide methods for outputting piece goodsfrom a commissioning device. Some methods include providing acommissioning device comprising a first shelf row comprising one or morefirst shelf surfaces, a second shelf row comprising one or more secondshelf surfaces, a plurality of parallel storage shafts disposed on eachsecond shelf surface, each of the storage shafts comprising a gatedisposed at an end, the gate configured to hold and release piece goodsstored in the storage shaft, an operating unit configured to be movablein a lane disposed between the first and second shelf rows, theoperating unit comprising a gripping device configured to input piecegoods onto the first shelf surfaces, output piece goods from the firstshelf surfaces, and fill piece goods into the storage shafts, an inputdevice configured to move piece goods into the commissioning device, anoutput device configured to output piece goods from the storage shaftsalong a main output path, an auxiliary output device configured tooutput piece goods held by the operating unit along an auxiliary outputpath, and a control unit configured to control the operating unit forinputting and outputting piece goods. The methods also include receivingan output request for at least one piece good; determining, by thecontrol unit, whether the at least one piece good to be output is ashaft good or a shelf good; if it is determined that the good is a shelfgood, grasping and transferring a number of the at least one piece goodscorresponding to the output request to the auxiliary output device bythe operating unit; if it is determined that the good is a shaft good,determining whether there is a corresponding number of the at least onepiece goods stored in the storage shafts; if it is determined that acorresponding number of the at least one piece goods is stored in thestorage shafts, outputting the number of the at least one piece goodscorresponding to the output request out of the commissioning device andonto the output device; and if it is determined that a correspondingnumber of the at least one piece goods is not stored in the storageshafts, grasping and outputting a plurality of the at least one piecegoods stored on horizontal shelf surfaces corresponding to the outputrequest by the operating unit.

The foregoing and other features, aspects and advantages of thedisclosed embodiments will become more apparent from the followingdetailed description and accompanying drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a perspective view of an embodiment of a commissioning device;

FIG. 2 is a perspective cross-sectional view of the commissioning deviceof FIG. 1;

FIG. 3 is another perspective view of the commissioning device of FIG.1;

FIG. 4 is a rear view of the commissioning device of FIG. 1;

FIG. 5 is a front elevation view of the commissioning device of FIG. 1;

FIG. 6 is a side view of the commissioning device of FIG. 1;

FIG. 7 is a top plan view of an embodiment of a gripping device;

FIG. 8 is a perspective view of the gripping device of FIG. 7;

FIG. 9 is a perspective view of a portion of an embodiment of inclinedstorage shafts;

FIG. 10 is a perspective view of another embodiment of a commissioningdevice;

FIG. 11 is a perspective view of a portion of the commissioning deviceof FIG. 10;

FIGS. 12A, 12B, 13A, 13B, 14A, 14B, 15A and 15B are illustrations ofoutputting piece goods using an embodiment of a commissioning device;and

FIG. 16 is a flow chart illustrating steps in a method for outputtingpiece goods using an embodiment of a commissioning device.

DETAILED DESCRIPTION

The detailed description set forth below describes variousconfigurations of the subject technology and is not intended torepresent the only configurations in which the subject technology may bepracticed. The detailed description includes specific details for thepurpose of providing a thorough understanding of the subject technology.Accordingly, dimensions are provided in regard to certain aspects asnon-limiting examples. However, it will be apparent to those skilled inthe art that the subject technology may be practiced without thesespecific details. In some instances, well-known structures andcomponents are shown in block diagram form in order to avoid obscuringthe concepts of the subject technology.

It is to be understood that the present disclosure includes examples ofthe subject technology and does not limit the scope of the appendedclaims. Various aspects of the subject technology will now be disclosedaccording to particular but non-limiting examples. Various embodimentsdescribed in the present disclosure may be carried out in different waysand variations, and in accordance with a desired application orimplementation.

Automated commissioning equipment is used frequently in pharmacies inorder to store medicinal packages in a way that saves space. In typicalcommissioning devices applicable to pharmacies, the medicinal packagesare stored chaotically. In other words, the medicinal packages are notstored in pre-determined storage spaces in the device, but rather instorage spaces with just the right amount of space. Excess empty volumecan be avoided this way and the number of stored medicinal packages persquare foot of surface area can be considerably increased. Thecommissioning devices that operate according to this system include acomplex storage system that assigns storage spaces optimally. However,commissioning devices that operate in this manner are unsuitable formedicine distribution centers or large pharmacies that have a very highoutput frequency (e.g., high number of medicinal packages per unit oftime) since the chaotically stored medicinal packages cannot be outputfast enough.

Therefore, when there are very high output frequencies, thecommissioning systems that are used are those with so-called shaftsystems in which the medicines are selectively stored. Each storageshaft preferably has a gate at the lower end thereof controllable by anoperating unit, the gate allowing one or more medicinal package to bedischarged from the storage shaft. The number of different medicinesthat can be stored using a commissioning device with selective storageshafts corresponds at most to the number of selective storage shafts.However, for typical commissioning devices that use storage shafts,medicinal packages cannot be stored in them if the packages cannot bestored in a shaft. For example, packages of a special shape, packagesthat need to be cooled, or packages that are not dispensed very oftensuch that storage in a selective shaft would not make sense.

Accordingly, a commissioning device is provided that uses storage shaftsand may also store and output medicinal packages that are not compatiblewith storage shafts or that have a much lower output frequency than thatof medicinal packages stored in the storage shafts.

The commissioning device includes at least a first shelf row with atleast a first shelf, the shelf having a plurality of shelf surfacesdisposed one above the other, each of said self surfaces extending inthe horizontal plane, and at least a second shelf row with at least asecond shelf, the second shelf having a plurality of shelf surfacesdisposed one above the other, each of said second shelf surfacesextending in a plane. When the commissioning device includes a pluralityof shelves per shelf row, all of the shelves may be configured to beidentical, but it is also configurable for different shelves with shelfsurfaces separated by different distances to be installed, for example.

A lane is configured between the first and the second shelf rows, with ahorizontally and vertically movable operating unit being disposed in thelane at a corresponding guide member. The lane is defined by the ends(e.g., loading edges) of the shelf surfaces, the ends normally locatedin a vertical plane for each shelf row such that the planes of opposingshelf rows run parallel to one another.

The commissioning device further includes at least one input device formoving piece goods into the commissioning device, the operating unitconfigured to remove piece goods from the input device. Also includedare at least one output device configured to output piece goods from thesecond shelf row, among others, and at least one auxiliary output deviceconfigured to output along an auxiliary output path piece goods that aretaken up by operating unit. Multiple parallel storage shafts areconfigured on each shelf surface of the second shelf row, each of thestorage shafts having at its respective end a gate for holding andreleasing piece goods lying in the storage shaft. From the storageshafts, piece goods may be output along a main output path by way of theoutput device.

The operating unit of the commissioning device includes a grippingdevice for inputting and/or outputting piece goods onto or from thehorizontal shelf surfaces, and for filling piece goods into the storageshafts or routing the piece goods onto the auxiliary output device. Theoperating unit also includes a controller coupled to the operating unit,the controller controlling the operating unit in inputting andoutputting the piece goods. The control unit is configured such that theoperating unit is controllable for the purposes of outputting from thehorizontal shelf surfaces identical piece goods that lie in a row andfor inputting the piece goods into the inclined storage shafts, and foroutputting one or more piece goods located on the horizontal shelfsurfaces and transferring these piece goods to the auxiliary outputdevice.

Thus, in the commissioning device two kinds of storage spaces arecombined. For example, the storage shafts of the second storage shelfrow and the horizontal shelf surfaces of the first shelf row. Medicinalpackages with a high output frequency are stored by type in the storageshafts. An excess supply of medicinal packages to be stored in thestorage shafts may be placed on the horizontal shelf surfaces (e.g., anamount in addition to the piece goods located in the storage shafts), ormedicinal packages that cannot be stored in storage shafts or thatcannot be output thereby may be placed on the horizontal shelf surfaces.Further, medicinal packages that may be located or stored on thehorizontal shelf surfaces are those for which the output frequency istoo low to be stored in the storage shafts, for which the weight of themedicinal package is too heavy, or for which there is no storage shaftavailable based on dimensions of the medicinal package.

The piece goods with high output frequency are output by way of thestorage shafts. However, to output piece goods that cannot be output byway of storage shafts or goods that are not stored in an inclined shaftdue to a low output frequency, the commissioning device includes anauxiliary output device to which piece goods may be fed using theoperating unit. The piece goods are then moved out of the commissioningdevice along an auxiliary output path by way of this auxiliary outputdevice.

The commissioning device may store and output piece goods (e.g.,medicinal packages) with a high output frequency in the storage shafts,as well as piece goods with a low output frequency or goods that cannotbe output using the inclined storage shafts together in a singlecommissioning device without reducing the output rate of thecommissioning device. Piece goods with a high output frequency may beoutput using the storage shafts, each of which is provided with a gate,while in parallel, the piece goods stored on the horizontal shelfsurfaces may be output by way of the auxiliary output device using theoperating unit.

Piece goods that are stored in the shafts, and if necessary, on thehorizontal shelf surfaces as excess supply, are herein defined as “shaftgoods.” Piece goods that are stored on a horizontal shelf surfacebecause of the conditions mentioned above are herein defined as “shelfgoods.” While the packages described herein are in the context ofmedicinal packages, other kinds of piece goods may also be processedusing the commissioning device.

The piece goods are output from the storage shafts by releasing the gateand moving the piece goods out of the shaft using an appropriate deviceassociated with the storage shaft (e.g., when the shaft is horizontal).

In a preferred embodiment of the commissioning device, the shelfsurfaces of the second shelf row are configured at an incline downwardaway from the lane (e.g., inclined storage shafts). This provides foroutputting the piece goods by opening the gate associated with a storageshaft. The piece good drops out of the storage shaft and onto the outputdevice by gravity due to the incline of the storage shaft. In otherembodiments, the second shelf row may be configured to combine shelveswith horizontal shelf surfaces and shelves with inclined shelf surfaces.

As previously discussed, a lane is formed between the first and thesecond shelf rows, with the operating unit being movable thereinhorizontally and vertically on a corresponding guide. In order to movepiece goods easily and quickly from the horizontal shelf surfaces to thestorage shafts (e.g., inclined storage shafts), that is to move piecegoods from the excess supply to the storage locations from which theyare ultimately output, a preferred embodiment provides that the grippingdevice of the operating unit includes a horizontal holding surface withopposing loading edges, a gripper for inputting and outputting the piecegoods onto and from the horizontal shelf surfaces and a pushing devicefor pushing piece goods onto the holding surface. A transport path isformed for piece goods between the loading edges and the holding surfaceextends over the entire width of the lane. Thus, the loading edges ofthe holding surface align with loading edges of the horizontal shelfsurfaces or shafts such that piece goods may be moved onto or from thehorizontal shelf surfaces or from the holding surface into the shaftswithout moving the holding surface. This is achieved by aligning thewidth of the holding surface with the width of the lane. For example,keeping the distance between the loading edges of the holding surfaceand the ends and loading edges of the shelf rows small enough thatpreferably no piece goods may get wedged in the gap between the loadingedges, but not so small that the operating unit cannot freely move inthe lane (keeping in mind that some shelf surfaces may extend slightlywider into the lane than others).

Thus, it is not necessary for the gripping device to be pivoted about ahorizontal pivoting axis after the piece goods are moved to the holdingsurface in order to feed the piece goods to the storage shafts over thesame loading edge. The commissioning device provides for the piece goodsto be moved to the shafts using the pushing device after the goods aremoved to the holding surface by way of the gripper. To this end, atransport path is provided between the loading edges of the holdingsurface. Thus, piece goods may be fed from the horizontal shelf surfacesto the storage shafts or to the auxiliary output device very quickly.

Occasionally, it is desirable to transfer piece goods stored on thehorizontal shelf surfaces as excess supply for piece goods stored in thestorage shafts (e.g., in order to move the goods closer to the storageshaft through which they are ultimately output). To support the movementof piece goods from the holding surface to the horizontal shelfsurfaces, a preferred embodiment provides that the pushing deviceincludes two pushing members for moving piece goods from the holdingsurface in opposite directions. For example, in one case to the storageshafts and in the other case onto the horizontal shelf surfaces.

In some embodiments, the pushing members of the gripping device may bemoved in a notch of the holding surface and also beneath the notch. Insome embodiments, the pushing members are disposed and movable at apoint on the gripping device which is otherwise free of othercomponents. The gripper is located at the side surfaces of the holdingsurface (e.g., if the gripper is a jaw-type gripper) so that a gooddistribution of individual components of the gripping device isachieved.

The pushing members are used to feed the piece goods located on theholding surface to the storage shafts and elsewhere. In inclined storageshafts, the piece goods slide down to the gate or to a piece goodalready located in the storage shaft by the force of gravity. In orderto guarantee that the piece goods slide into the inclined storage shaftsby the force of gravity, in particular in the case of very small and/orlight piece goods, a preferred embodiment provides that a pushing memberincludes a pushing finger that may be movable over a loading edge. Thisensures that when moving a piece good from the holding surface to aninclined storage shaft, the center of gravity of the piece good is movedout over the loading edge so that the piece good slides down theinclined storage shaft.

To provide for piece goods of different dimensions to be stored, apreferred embodiment provides that the inclined shelf surfaces of thesecond shelf row are configured such that storage shafts of differentheights are formed.

Piece goods that are output using the auxiliary output device are thosethat may either not be output using an inclined storage shaft (e.g.,because of shape) or for which the output frequency is so low thatstoring the piece goods in a storage shaft does not make sense. Theauxiliary output device may be configured as a slide next to the secondshelf row, for example. Piece goods may be led from the operating unitto the actual output device or out of the commissioning device. However,in preferred embodiments the auxiliary output device is configured onthe shelf surface of the second shelf row. In these preferredembodiments, therefore, part of a shelf surface is not provided as astorage shaft, but rather the auxiliary output device is configured inthis area. In these embodiments, the auxiliary output device istherefore not embodied by a stand-alone component, but by existingcomponents. In this regard, in an especially preferred embodiment theauxiliary output device is configured as an inclined storage shaftwithout a gate.

Methods of using a commissioning device as described above are alsocontemplated. In response to an output request (e.g., a request foroutputting a certain number of piece goods) for one or more piece goodsby the control unit of the commissioning device, a determination is madeas to whether the at least one piece good to be output is a shaft goodor a shelf good. The output request may be transmitted to the controlunit through a cabled or wireless network connection, for example.

After the determination is made as to whether the at least one piecegood to be output is a shaft good or a shelf good, if it is a shelf gooda number of piece goods corresponding to the output request arecollected by the operating unit and transferred to the auxiliary outputdevice. To this end, the corresponding number of piece goods are movedto the holding surface using the gripper of the operating unit, and thentransferred to the auxiliary output device which outputs the piecegoods, or the outputting may be by way of the actual output device ofthe commissioning device. Alternatively, the commissioning device mayalso be configured such that the auxiliary output device ends at aremoval point (e.g., the outputting is executed without any intermediateswitching of the actual output device). One piece good or multiple piecegoods (e.g., shelf goods) may be output according to the output request,wherein the outputting may occur in succession or in parallel (e.g., ifthere are multiple operating units) depending on the preciseconfiguration of the commissioning device. If there is only oneoperating unit, either each piece good is output individually or firstall piece goods are moved to the holding surface (e.g., from differenthorizontal shelf surfaces if necessary) and then transferred togetherfrom the holding surface to the auxiliary output device.

If the piece goods to be output are shaft goods (e.g., piece goods thatare normally stored in the storage shafts), a determination is firstmade as to whether a number of piece goods corresponding to the outputrequest are stored in the storage shafts. If so, a number of piece goodscorresponding to the output request are output onto the output deviceand therefrom out of the device by actuating the gate or the gates ofthe storage shaft or shafts in which the piece goods are stored, and ifnecessary, by actuating a corresponding device for moving the piecegoods out of the storage shaft. For the case that a number of piecegoods corresponding to the output request are not stored in the storageshafts, a plurality of piece goods stored on the horizontal shelfsurfaces (e.g., goods from the excess supply) are grasped by theoperating unit and a number of piece goods corresponding to the outputrequest is output.

The plurality of piece goods may be precisely the number of piece goodsrequested, which are then output. However, more piece goods than thenumber requested may be removed from the excess supply. The requestedpiece goods are output, and the excess piece goods are moved to thestorage shaft for subsequent output requests.

The requested number of piece goods may be only partially available inthe storage shafts. In this case, the portion of requested piece goodsstill available in the storage shafts may be output using the shafts andthe remaining portion may be removed and output from the horizontalshelf surfaces.

The piece goods not stored in the storage shafts are output by movingthe operating unit to the auxiliary output device and transferring anumber of piece goods corresponding to the output request to theauxiliary output device and outputting them. Alternatively, the piecegoods not stored in the storage shafts may be output by moving theoperating unit to a storage shaft, transferring all piece goods to thestorage shaft and actuating the gate of the inclined storage shaft suchthat a number of piece goods corresponding to the output request ontothe output device may be output (e.g., by the force of gravity forinclined storage shafts or using a corresponding device for horizontalstorage shafts).

It is further contemplated that if the number of piece goods stored inthe storage shafts does not correspond to the output request, aplurality of piece goods corresponding to the output request is removedfrom the horizontal shelf surfaces (e.g., from the excess supply) usingthe operating unit, a number of piece goods corresponding to the outputrequest are output (e.g., using the auxiliary output device or using thestorage shafts) and the piece goods still located on the holding surfaceof the gripping device are moved to an inclined storage shaft. In thiscase, the requested piece goods are output and in addition other piecegoods are placed in an inclined storage location.

The input device may be configured such that a plurality of identicalpiece goods may be arranged next to one another on the input device inorder to fill the storage shafts. Here, the input device may be muchwider than a normal piece good (e.g., 5-8 times the width of a normalpiece good). Alternatively, the piece goods may also be placedindividually on the input device, particularly when shelf goods are tobe input.

FIG. 1 shows a perspective view of a commissioning device 1, whereinsome non-essential elements of the commissioning device, such asportions of the framework structure 2 and some of the exterior paneling3, are omitted. The commissioning device 1 includes a first shelf row 10with multiple shelves, each of which includes multiple shelf surfaces 11disposed one above the other and that extend in a horizontal plane.While only one shelf surface 11 is indicated in FIG. 1, other shelfsurfaces may be disposed above the shelf surface shown. The individualshelves of the first shelf row 10 are formed by shelf walls 12 and themultiple shelf surfaces 11. In the embodiment shown, all end edges(e.g., loading edges) of the shelf surfaces are located in a verticalplane. For example, all shelf surfaces may extend equally far into thecommissioning device.

The embodiment of the commissioning device shown in FIG. 1 includes twoinput devices 60, 61 configured as conveyor belts and which areintegrated into the first shelf row. For example, there are shelvesprovided above and below the two input devices 60, 61, the shelvesincluding horizontal shelf surfaces 11. The input devices 60, 61 aredisposed and dimensioned such that the input devices 60, 61 end flushwith the vertical planes mentioned above (e.g., because of the devicewidths). A corresponding arrangement of input devices and shelf surfacesmakes it particularly easy to remove piece goods from the input devicesand to place the piece goods onto the shelf surfaces.

Opposite the first shelf row 10 is a second shelf row 20 that comprisesa plurality of shelves with inclined shelf surfaces 21, wherein in theembodiment shown only one inclined shelf surface 21 is shown. In theembodiment shown, the end edges (e.g., loading edges) of the inclinedshelf surfaces that are turned into the commissioning device also end ina vertical plane, wherein this plane runs parallel to the plane definedby the end edges of the horizontal shelf surfaces.

Multiple storage shafts 22 are formed on each shelf surface 21, eachshaft having a gate 23 at a lower end 24 of the shaft (e.g., the gatebeing coupled to a control unit not shown in FIG. 1) for holding andreleasing piece goods lying in the storage shaft 22. Below the inclinedshelf surface is an output device 70 onto which the piece goods locatedin the inclined storage shafts fall when the gates of the inclinedstorage shafts are actuated, and by way of which the requested piecegoods are moved out of the commissioning device 1. In the embodimentshown in FIG. 1, the output device 70 is configured as a conveyor belt.

Between the first and the second shelf rows 10, 20 is a lane 30, thewidth of which is defined by the distance between the two verticalplanes and into which an operating unit 40 may travel horizontally andvertically at a corresponding guide 41. In FIG. 1, a horizontal guide 41of the operating unit 40 in particular can be seen.

The commissioning device 1 further includes an auxiliary output device80 which allows for the outputting of piece goods, in particular thosewhich are not stored in the inclined storage shafts 22 since the piecegoods are either not capable of being stored in the inclined storageshafts 22, for example because of shape, or which are so seldom outputor requested that inputting these piece goods in the inclined storageshafts 22 is not desirable because the inclined storage shafts 22 may bebetter occupied by frequently requested piece goods. In the embodimentshown, the auxiliary output device 80 is formed on an inclined shelfsurface 21 as a storage shaft with a lower end having no gate. If apiece good is to be output by way of the auxiliary output device 80, thepiece good is removed from a horizontal shelf surface 11 by theoperating unit 40 (which is described in more detail below) and fed tothe auxiliary output device 80, along which the piece good slides ontothe output device 70. In alternative embodiments, the auxiliary outputdevice 80 may be disposed next to the second shelf row 20 as a“stand-alone” component, for example. This can be a necessity when piecegoods that are stored and output by way of the auxiliary output device80 have dimensions that prevent the piece goods from being outputbetween the inclined shelf surfaces 21 due to the arrangement thereof.

FIG. 2 shows a sectional view of the embodiment shown in FIG. 1, inwhich the upper half of the commissioning device 1 is omitted. In thissectional view in particular, the arrangement of horizontal shelfsurfaces 11 of the first shelf row 10 can be seen. It is further clearthat the ends of the horizontal shelf surfaces 11 and the sides of theoutput devices 60, 61 all lie in a plane. As can be seen in this view,each input device 60, 61 includes an associated identification device100 for determining data on the piece goods 6 lying on the input device60, 61 (e.g., dimensions of the piece goods, identification of piecegoods, number of piece goods). It can also be seen that each inputdevice 61, 60 includes an outer area 62 that protrudes beyond theleading front of the commissioning device 1 and on which the piece goods6 to be input are placed for inputting, wherein the normal process issuch that a plurality of identical piece goods 6 is placed. Theidentical piece goods are moved into the commissioning device 1 usingthe input device 60, 61. In the commissioning device 1, the piece goods6 are removed from the input device 60, 61 together by the operatingunit 40 if they are identical piece goods 6 and are fed to an inclinedstorage shaft 22 or a horizontal shelf storage 11.

In FIG. 2, there are a few shelf-type piece goods 7 arranged on thehorizontal shelf surfaces and four shaft-type piece goods 6 areindicated on the upper input device. Here, it can be seen how theshaft-type piece goods 6 in particular are advantageously placed on theinput device 60,61, namely identical shaft-type piece goods 6 all in arow so that all four shaft-type piece goods 6 may be grasped by theoperating unit 40 and moved to the pre-determined inclined storage shaft22 at the same time.

FIG. 3 shows an alternative perspective view of the embodiment alreadyshown in FIG. 1. This view shows the commissioning device 1 from anotherside. There are otherwise no difference between the views according toFIGS. 1 and 3.

FIG. 4 shows a rear view of the embodiment of the commissioning device1, with the inside of the commissioning device 1 being visible with theexterior panels 2 being omitted. The two shelf rows 10, 20 can be seendisposed opposite one another, with only one shelf surface 21 of thesecond shelf row 20 being shown. Formed between the first and the secondshelf rows 10, 20 is the lane 30 in which the operating unit 40 maytravel horizontally and vertically, wherein this figure shows a verticalguide 42 in particular for the operating unit 40. The operating unit 40includes a gripping device 50, which is easily seen in the rear view.The gripping device 50 completely traverses the lane 30, being therebycapable of traversing the distance between the first shelf row 10 andthe second shelf row 20 while ensuring freedom of motion in the lane 30.As can be easily seen in this representation, the inclined shelfsurfaces 21 of the second shelf row 20 are inclined outward away fromthe lane 30 to the output device 70. In this representation, it is alsoeasily seen that access to both input devices 60, 61 is possible usingthe gripping device 50. The horizontal shelf surfaces 11 and the inputdevices 60, 61 extend up to the same vertical plane. The same applies toall of the inclined shelf surfaces 21.

FIG. 5 shows a front view of the commissioning device 1. As can be seenin this front view, both input devices 60, 61 are disposed below adisplay unit 110, one atop the other. A variety of kinds of informationabout the commissioning device 1 may be displayed using the display unit110, and the display unit 110 is coupled to an input device (not shown).Below the input devices 60, 61 is the control unit 90, which is coveredby part of the panel 3 of the commissioning device 1. The control unit90 is coupled to the input devices 60, 61, the output device 70, thedisplay unit 110 and the operating unit 40, among other things.

A door opening 4 is provided in the front side of the commissioningdevice 1 for entering the commissioning device 1 in case of a disruptionor for maintenance purposes. There is also another opening 5 provided inthe front side off the commissioning device 1 through which part of theoutput device 70 extends, and through which piece goods are moved out ofthe commissioning device 1.

FIG. 6 shows a side view of the embodiment of the commissioning device 1already shown in the previous figures. This representation also omitssome components. In the first shelf row 10 shown in the back, there aretwo shelves disposed side by side in this representation, withhorizontal shelf surfaces 11. It can be seen that the distance betweenthe individual shelf surfaces may vary even within a shelf. It is alsoseen that both input devices 61, 60 and the output device 70 extend outbeyond the front side of the commissioning device 1, ending in a removalarea 71 and two holding areas 62, 63.

FIG. 7 shows a detail view of the gripping device 50 of the operatingunit 40 as well as the arrangement off the gripping device 50 betweenthe first (e.g., right) and the second (e.g., left) shelf row 10, 20,the shelf surfaces 11, 21 of the shelf rows 10, 20 being visible. Thegripping device 50 of the operating unit 40 includes a holding surface51 that is in the form of a holding table in the embodiment shown. Thereare two loading edges 52, 53 disposed at opposite ends of the holdingsurface 51, the loading edges 52, 53 ending just prior to the endedges/loading edges of the respective shelf surfaces 11, 21 of the firstand the second shelf rows 10, 20. For example, lane 30 between the firstand the second shelf rows 10, 20 is almost completely traversed, but thefreedom of motion of the operating unit 40 in the lane is maintained. Acorresponding configuration of the holding table and the holding surface51 makes it possible to remove piece goods from the horizontal shelfsurfaces 11 and to directly push these piece goods on or over theholding surface 51 to an inclined shaft 22 without having to move theholding table or the gripping device 50 to one of the shelf rows 10, 20.

To remove and move the piece goods, the gripping device 50 includes agripper 54 that is designed as a jaw-type gripper with two gripping jaws54 a, 54 b in the embodiment shown. Here, at least one of the twogripping jaws 54 a, 54 b of the gripper is pivotable in such a way thatpiece goods may be clamped between the gripping jaws 54 a, 54 b andthereby pulled from a horizontal shelf surface 11 onto the holdingsurface 51 of the gripping device 50. To this end, the gripper 54 isconfigured such that the gripping jaws 54 a, 54 b may be pushed into ashelf, wherein the insertion depth into the shelf depends on how manypiece goods are to be removed from the corresponding shelf surface 11.

In order to move the piece goods from the holding surface 51 to theinclined storage shafts 22, the gripping device 50 includes a pushingdevice 55 in the embodiment shown. The pushing device 55 includes twopushers 55 a, 55 b that are movable in a notch 51 a of the holdingsurface 51. Further, the pushers 55 a, 55 b in the embodiment shown aredisposed in such a way that they may be moved under the plane of theholding surface 51. The pushers 55 a, 55 b include a pushing finger 56a, 56 b that may be moved over a respective loading edge. With referenceto pushing finger 56 a, which is associated with loading edge 52, thismeans that the pushing finger 56 a may be moved over loading edge 52.This is particularly important as the piece goods may be pushed onto thehorizontal shelf surfaces 11 in such a way that the piece goods do notprotrude out over the front loading edge 11 a of the horizontal shelfsurfaces 11.

Concerning pusher 55 b, which is associated with loading edge 53, whichis in turn associated with the second shelf row 20, pushing finger 56 bmay be moved over loading edge 53. This provides that piece goods lyingon holding surface 51 may be pushed to a storage shaft 22 in such a waythat the center of gravity of a piece good is pushed over loading edge21 a of the inclined shelf surface 21. Thus, the piece goods are certainto slide by the force of gravity in the inclined storage shaft 22 up tothe gate (not shown in this representation) or up to a piece good thatis already located in the storage shaft 22.

FIG. 8 shows another detailed view of the gripping device 50. What isparticularly recognizable is that the pushers 55 a, 55 b may move insideof a notch 51 a in the holding surface 51. In this representation, itcan also be seen that the pushing finger 56 a of pusher 55 a may moveover loading edge 52. The gripping device 50 of the operating unit 40 isarranged in such a way that piece goods may be removed from the inputdevice 60. To do so, the pushers 55 a, 55 b must be movable under theplane of the holding surface 51. The arrangement and representation ofthe pushers 55 a, 55 b in FIG. 8 are for illustrative purposes only, asthe pushers 55 a, 55 b are not so positioned while the commissioningdevice 1 is operating.

FIG. 9 shows a detailed view of multiple inclined storage shafts 22formed on an inclined shelf surface 21. The individual storage shafts 22are separated from one another by way of separating walls 25 that aredisposed parallel to one another on the inclined shelf surface 21. Atthe lower end 24 of each inclined storage shaft 22 is a gate 23 thatpermits individual piece goods to be output out of the inclined storageshaft 22. The piece goods output from the storage shaft 22 fall onto theoutput device 70 by virtue of the arrangement of the inclined storageshaft 22 and the output device 70, and are output thereby through anopening in the front side of the commissioning device 1.

Also disposed on the inclined shelf surface 21 shown in FIG. 9 is theauxiliary output device 80, by way of which shelf-type piece goods 7 inparticular may be output from the horizontal shelf surface 11. In someembodiments, the auxiliary output device 80 may also include two or morestorage shaft widths or may be disposed next to the second shelf row 20as a separate component, for example. The auxiliary output device 80 asshown here is a passive output device. For example, the piece goods arenot moved by way of a motion by the output device itself. The auxiliaryoutput device 80 may also be configured as an active output device. Forexample, as a conveyor belt that may be led directly out of thecommissioning device 1.

FIG. 10 shows a perspective view of another embodiment, wherein in thisembodiment horizontal storage shafts 22′ are used. Here, the othercomponents correspond substantially to those of the first embodiment sothat there is no need to provide a detailed description. FIG. 11 shows adetailed view of a shelf surface of a shelf of the second shelf row 20of the second embodiment, wherein the shelf surfaces 21 are configuredto be horizontal. At the ends 24 of the shelf surfaces 21 are gates 23,there being a gate 23 associated with each storage shaft 22′ and whichmay be operated separately by way of the control unit 90.

In this embodiment, the second shelf row 20 includes conveying device 28for moving piece goods in the storage shafts 22′. In the embodimentshown, the conveying device 28 is configured as a conveyor belt beneaththe surfaces of the storage shafts 22′, wherein the surfaces of thestorage shafts 22′ have a notch through which a section of the conveyingdevice 28 extends at least in sections so that there is contact betweenthe stored piece goods and the conveying device 28. If a piece good isto be output, a gate 23 (or a plurality of gates) is opened and theconveying device 28 is activated. The conveying device 28 acts on allstorage shafts 22′ of the shelf surface 21, but where there are storageshafts 22′ with unopened gates 23, the piece goods only move up againstthe gates 23 and are not output.

Methods of outputting piece goods using a commissioning device 1 aredescribed below with reference to FIGS. 12a, 12b-15a, 15b , each ofwhich show different respective method steps schematically. The figuresare very simplified and only the essential features are shown anddescribed.

FIGS. 12A and 12B show two stages of a first embodiment of a method. Thecontrol unit 90 first determines whether the at least one piece good tobe output is a shaft good 6 or a shelf good 7, the determination comingin reaction to an output request to the control unit 90. In theexemplary embodiment shown in FIGS. 12A, 12B, a shelf good 7 stored onhorizontal shelf surface 11″ is requested via an output request. Thegripping device 50 is then moved to the horizontal shelf surface 11.″ Assoon as the gripping device 50 is correctly positioned, the piece good 7in question is grasped and moved to the holding surface. The grippingdevice 50 is moved to the auxiliary output device 80 and as soon as thegripping device 50 is correctly positioned, the piece good 7 is pushedonto the auxiliary output device 80 and proceeds therefrom to the outputdevice 70, which moves the piece good 7 out of the commissioning device1.

In the embodiment illustrated in FIGS. 13A and 13B, the output requestis for four shaft goods 7. This kind of piece good is normally stored ininclined shaft 22. However, here the control unit 90 has determined thatonly one piece good 6′ is present in inclined shaft 22. The grippingdevice 50 is then moved to shelf surface 11′ where four piece goods 6′meeting the output request are stored as excess supply. All four piecegoods 6′ are grasped by the gripping device 50. Since it was determinedthat only one piece good 6′ is present in inclined storage shaft 22, butthe output request was for four piece goods, the gripping device 50moves to the auxiliary output device 80 and all piece goods 6′ locatedon the gripping device 50 are output using the auxiliary output device80 and the output device 70.

In the embodiment shown in FIGS. 14A and 14B, the output request is fortwo piece goods that are normally stored in inclined storage shaft 22.However, here the control unit 90 has determined that inclined storageshaft 22 is empty. Four piece goods 6 meeting the output request areremoved from horizontal shelf surface 11′ using the gripping device 50.Then, the gripping device 50 is moved in front of inclined storage shaft22 and all piece goods 6 lying on the gripping device 50 are moved toinclined shaft 22. However, since the output request only included twopiece goods 6, only two piece goods 6 are output and the other two piecegoods 6 removed from horizontal shelf surface 11′ remain in inclinedstorage shaft 22.

In embodiments illustrated in FIGS. 15A and 15B, two piece goods areagain requested, and it is again determined that no piece goods meetingthe output request are located in inclined storage shaft 22. Then, fourpiece goods 6 are grasped from horizontal shelf surface 11′ using thegripping device 50. In these embodiments, the gripping device 50 isfirst moved to the auxiliary output device 80 and two of the four piecegoods 6 located on the gripping device 50 are output using the auxiliaryoutput device 80. The gripping device 50 with the two remaining piecegoods 6 is moved to inclined storage shaft 22 and the two remainingpiece goods 6 are moved to the inclined storage shaft 22 where theyremain until the next corresponding output request.

The variant of the method that is used may depend on the load on thecommissioning device 1 and on the storage situation. In each case, anoptimum outputting variation may be determined by the control unit 90for the current output request.

FIG. 16 shows a flow chart illustrating steps in a method 200 foroutputting piece goods, according to some embodiments. Method 200 may beperformed in connection with a commissioning device (e.g., commissioningdevice 1) consistent with the present disclosure. Accordingly, thecommissioning device in method 200 may include shelf rows (e.g., shelfrows 10, 20) for storing piece goods such as medication packages. Acontrol unit (e.g., control unit 90) may determine whether a piece goodto be output is stored in a shaft (e.g., shaft-type piece good 6) orstored on a shelf (e.g., shelf-type piece good 7). A gripping device(e.g., gripping device 50) may be used to grab a stored shelf good andmove the shelf good to an output device (e.g., auxiliary output device80), and then move the shelf good to another output device (e.g., outputdevice 70) and out of the commissioning device. The gripping device mayalso be used to move shelf goods from a storage shelf to a storage shaft(e.g., inclined storage shaft 22).

Steps in method 200 may be performed at least partially by an operator,medical personnel, or a healthcare professional in a healthcare facilityor in a drugstore, or in a pharma manufacturing facility. Accordingly,method 200 may be part of a medicament management or a drug logisticprepared by a physician or a healthcare professional. Moreover, method200 may be performed automatically upon execution of a command providedby or controlled by a healthcare professional. For example, steps inmethod 200 may be programmed or directed with commands oncomputer-readable media, which, in some embodiments, can comprisenon-transitory computer readable media.

Methods consistent with the present disclosure may include at least oneof the steps illustrated in FIG. 16, performed in any order. In someembodiments, a method may include at least two of the steps illustratedin FIG. 16 performed overlapping in time, or even simultaneously.Moreover, embodiments consistent with the present disclosure may includeat least one but not all of the steps illustrated in FIG. 16.Furthermore, methods consistent with the present disclosure may includemore steps, in addition to at least one of the steps illustrated in FIG.16. In some embodiments, one or more steps may be repeated.

Step 210 includes receiving a request at a control unit for outputtingone or more piece goods. Step 220 includes determining by the controlunit whether the piece goods to be output are stored on a shelf or in ashaft. In some embodiments, step 220 includes determining that all ofthe stored piece goods needed to meet the request are stored on one ormore shelves, stored in one or more storage shafts, or a combination ofboth. Step 230 includes providing all of the requested piece goods to anoutput device. In some embodiments, step 230 includes moving one or moreof the piece goods by a gripping device directly to the output device orto an auxiliary device that then moves the piece goods to the outputdevice. Step 240 includes outputting the selected piece goods from thecommissioning device.

It is understood that any specific order or hierarchy of blocks in themethods or processes disclosed is an illustration of example approaches.Based upon design or implementation preferences, it is understood thatthe specific order or hierarchy of blocks in the processes may berearranged, or that all illustrated blocks be performed. In someimplementations, any of the blocks may be performed simultaneously.

The present disclosure is provided to enable any person skilled in theart to practice the various aspects described herein. The disclosureprovides various examples of the subject technology, and the subjecttechnology is not limited to these examples. Various modifications tothese aspects will be readily apparent to those skilled in the art, andthe generic principles defined herein may be applied to other aspects.

A reference to an element in the singular is not intended to mean “oneand only one” unless specifically so stated, but rather “one or more.”Unless specifically stated otherwise, the term “some” refers to one ormore. Pronouns in the masculine (e.g., his) include the feminine andneuter gender (e.g., her and its) and vice versa. Headings andsubheadings, if any, are used for convenience only and do not limit theinvention.

The word “exemplary” is used herein to mean “serving as an example orillustration.” Any aspect or design described herein as “exemplary” isnot necessarily to be construed as preferred or advantageous over otheraspects or designs. In one aspect, various alternative configurationsand operations described herein may be considered to be at leastequivalent.

As used herein, the phrase “at least one of” preceding a series ofitems, with the term “or” to separate any of the items, modifies thelist as a whole, rather than each item of the list. The phrase “at leastone of” does not require selection of at least one item; rather, thephrase allows a meaning that includes at least one of any one of theitems, and/or at least one of any combination of the items, and/or atleast one of each of the items. By way of example, the phrase “at leastone of A, B, or C” may refer to: only A, only B, or only C; or anycombination of A, B, and C.

A phrase such as an “aspect” does not imply that such aspect isessential to the subject technology or that such aspect applies to allconfigurations of the subject technology. A disclosure relating to anaspect may apply to all configurations, or one or more configurations.An aspect may provide one or more examples. A phrase such as an aspectmay refer to one or more aspects and vice versa. A phrase such as an“embodiment” does not imply that such embodiment is essential to thesubject technology or that such embodiment applies to all configurationsof the subject technology. A disclosure relating to an embodiment mayapply to all embodiments, or one or more embodiments. An embodiment mayprovide one or more examples. A phrase such an embodiment may refer toone or more embodiments and vice versa. A phrase such as a“configuration” does not imply that such configuration is essential tothe subject technology or that such configuration applies to allconfigurations of the subject technology. A disclosure relating to aconfiguration may apply to all configurations, or one or moreconfigurations. A configuration may provide one or more examples. Aphrase such a configuration may refer to one or more configurations andvice versa.

In one aspect, unless otherwise stated, all measurements, values,ratings, positions, magnitudes, sizes, and other specifications that areset forth in this specification, including in the claims that follow,are approximate, not exact. In one aspect, they are intended to have areasonable range that is consistent with the functions to which theyrelate and with what is customary in the art to which they pertain.

It is understood that the specific order or hierarchy of steps,operations or processes disclosed is an illustration of exemplaryapproaches. Based upon design preferences, it is understood that thespecific order or hierarchy of steps, operations or processes may berearranged. Some of the steps, operations or processes may be performedsimultaneously. Some or all of the steps, operations, or processes maybe performed automatically, without the intervention of a user. Theaccompanying method claims, if any, present elements of the varioussteps, operations or processes in a sample order, and are not meant tobe limited to the specific order or hierarchy presented.

All structural and functional equivalents to the elements of the variousaspects described throughout this disclosure that are known or latercome to be known to those of ordinary skill in the art are expresslyincorporated herein by reference and are intended to be encompassed bythe claims. Moreover, nothing disclosed herein is intended to bededicated to the public regardless of whether such disclosure isexplicitly recited in the claims. No claim element is to be construedunder the provisions of 35 U.S.C. § 112 (f) unless the element isexpressly recited using the phrase “means for” or, in the case of amethod claim, the element is recited using the phrase “step for.”Furthermore, to the extent that the term “include,” “have,” or the likeis used, such term is intended to be inclusive in a manner similar tothe term “comprise” as “comprise” is interpreted when employed as atransitional word in a claim.

The Title, Background, Summary, Brief Description of the Drawings andAbstract of the disclosure are hereby incorporated into the disclosureand are provided as illustrative examples of the disclosure, not asrestrictive descriptions. It is submitted with the understanding thatthey will not be used to limit the scope or meaning of the claims. Inaddition, in the Detailed Description, it can be seen that thedescription provides illustrative examples and the various features aregrouped together in various embodiments for the purpose of streamliningthe disclosure. This method of disclosure is not to be interpreted asreflecting an intention that the claimed subject matter requires morefeatures than are expressly recited in each claim. Rather, as thefollowing claims reflect, inventive subject matter lies in less than allfeatures of a single disclosed configuration or operation. The followingclaims are hereby incorporated into the Detailed Description, with eachclaim standing on its own as a separately claimed subject matter.

The claims are not intended to be limited to the aspects describedherein, but are to be accorded the full scope consistent with thelanguage claims and to encompass all legal equivalents. Notwithstanding,none of the claims are intended to embrace subject matter that fails tosatisfy the requirement of 35 U.S.C. § 101, 102, or 103, nor should theybe interpreted in such a way.

What is claimed is:
 1. A method for outputting piece goods from acommissioning device, the method comprising: receiving, by a controlunit, an output request for at least one piece good; determining, by thecontrol unit, whether the at least one piece good to be output is ashaft good or a shelf good; if it is determined that the good is a shelfgood, grasping and transferring a number of the at least one piece goodscorresponding to the output request to an auxiliary output device by agripping device; if it is determined that the good is a shaft good,determining whether there is a corresponding number of the at least onepiece goods stored in one or more storage shafts; if it is determinedthat a corresponding number of the at least one piece goods is stored inthe storage shafts, outputting the number of the at least one piecegoods corresponding to the output request out of the commissioningdevice and onto an output device; and if it is determined that acorresponding number of the at least one piece goods is not stored inthe storage shafts, grasping and outputting a plurality of the at leastone piece goods stored on horizontal shelf surfaces corresponding to theoutput request by the gripping device.
 2. The method of claim 1, furthercomprising outputting the piece goods not stored in the storage shaftsby: moving the gripping device to the auxiliary output device; andtransferring a number of piece goods corresponding to the output requestto the auxiliary output device and outputting the piece goods.
 3. Themethod of claim 1, further comprising outputting the piece goods notstored in the storage shafts by: moving the gripping device to a storageshaft; transferring all piece goods in the storage shaft; and actuatinga gate at an end of an inclined storage shaft or shafts such that anumber of piece goods corresponding to the output request are outputonto the output device.
 4. The method of claim 1, wherein if it isdetermined that a corresponding number of the at least one piece goodsis not stored in the storage shafts, further comprising: removing, bythe gripping device, identical piece goods lying in a row from thehorizontal shelf surfaces; and placing, by the gripping device, theremoved piece goods into the storage shafts.
 5. The method of claim 1,further comprising moving piece goods into the commissioning device byan input device.
 6. The method of claim 5, further comprising removingpiece goods from the input device by the gripping device.
 7. The methodof claim 1, wherein the gripping device comprises a holding surfacehaving opposite loading edges, a gripper and a pushing device, wherein atransport path for piece goods is formed between the loading edges andthe holding surface traverses an entire width of a lane in which thegripping device is movably disposed, the method further comprising:inputting and outputting, by the gripper, piece goods onto or from thehorizontal shelf surfaces; and pushing, by the pushing device, piecegoods onto the holding surface.
 8. The method of claim 7, furthercomprising: moving, by a first pushing member, piece goods in a firstdirection on the holding surface; and moving, by a second pushingmember, piece goods in a second direction on the holding surface.
 9. Themethod of claim 8, further comprising: moving a first pushing finger ofthe first pushing member past one of the loading edges.
 10. The methodof claim 8, further comprising: moving each of the first and secondpushing members in a notch of the holding surface and under the holdingsurface.
 11. The method of claim 1, wherein transferring piece goods tothe auxiliary output device by the gripping device further comprises oneof: transferring the piece goods to the auxiliary output device disposedon one of the horizontal shelf surfaces; and transferring the piecegoods to the auxiliary output device comprising a storage shaft withouta gate.
 12. The method of claim 1, wherein outputting piece goods out ofthe commissioning device and onto the output device comprises one of:outputting piece goods from one or more storage shafts that inclinedownward away from a lane in which the gripping device is movablydisposed; and outputting piece goods from a plurality of storage shaftshaving varying heights.
 13. A method for outputting piece goods from acommissioning device, the method comprising: providing a commissioningdevice comprising a first shelf row comprising one or more first shelfsurfaces, a second shelf row comprising one or more second shelfsurfaces, a plurality of parallel storage shafts disposed on each secondshelf surface, each of the storage shafts comprising a gate disposed atan end, the gate configured to hold and release piece goods stored inthe storage shaft, an operating unit configured to be movable in a lanedisposed between the first and second shelf rows, the operating unitcomprising a gripping device configured to input piece goods onto thefirst shelf surfaces, output piece goods from the first shelf surfaces,and fill piece goods into the storage shafts, an input device configuredto move piece goods into the commissioning device, an output deviceconfigured to output piece goods from the storage shafts along a mainoutput path, an auxiliary output device configured to output piece goodsheld by the operating unit along an auxiliary output path, and a controlunit configured to control the operating unit for inputting andoutputting piece goods; receiving an output request for at least onepiece good; determining, by the control unit, whether the at least onepiece good to be output is a shaft good or a shelf good; if it isdetermined that the good is a shelf good, grasping and transferring anumber of the at least one piece goods corresponding to the outputrequest to the auxiliary output device by the operating unit; if it isdetermined that the good is a shaft good, determining whether there is acorresponding number of the at least one piece goods stored in thestorage shafts; if it is determined that a corresponding number of theat least one piece goods is stored in the storage shafts, outputting thenumber of the at least one piece goods corresponding to the outputrequest out of the commissioning device and onto the output device; andif it is determined that a corresponding number of the at least onepiece goods is not stored in the storage shafts, grasping and outputtinga plurality of the at least one piece goods stored on horizontal shelfsurfaces corresponding to the output request by the operating unit. 14.The method of claim 13, further comprising outputting the piece goodsnot stored in the storage shafts by: moving the operating unit to theauxiliary output device; and transferring a number of piece goodscorresponding to the output request to the auxiliary output device andoutputting the piece goods.
 15. The method of claim 13, furthercomprising outputting the piece goods not stored in the storage shaftsby: moving the operating unit to a storage shaft; transferring all piecegoods in the storage shaft; and actuating the gate of an inclinedstorage shaft or shafts such that a number of piece goods correspondingto the output request are output onto the output device.
 16. The methodof claim 13, wherein if it is determined that a corresponding number ofthe at least one piece goods is not stored in the storage shafts,further comprising: removing, by the gripping device, identical piecegoods lying in a row from the horizontal shelf surfaces; and placing, bythe gripping device, the removed piece goods into the storage shafts.17. The method of claim 13, further comprising: removing piece goodsfrom the input device by the gripping device.
 18. The method of claim13, wherein the gripping device comprises a holding surface havingopposite loading edges, a gripper and a pushing device, wherein atransport path for piece goods is formed between the loading edges andthe holding surface traverses an entire width of the lane, the methodfurther comprising: inputting and outputting, by the gripper, piecegoods onto or from the first shelf surfaces; and pushing, by the pushingdevice, piece goods onto the holding surface.
 19. The method of claim18, further comprising: moving, by a first pushing member, piece goodsin a first direction on the holding surface; and moving, by a secondpushing member, piece goods in a second direction on the holdingsurface.
 20. The method of claim 19, further comprising one of: moving afirst pushing finger of the first pushing member past one of the loadingedges; and moving each of the first and second pushing members in anotch of the holding surface and under the holding surface.